System and method for reception and inconsistency management of coordinates

ABSTRACT

Systems and methods for navigating an aerial vehicle are provided. One example aspect of the present disclosure is directed to a method for navigating an aircraft. The method includes receiving, by one or more processors, one or more first geographic coordinates via an interface configured to receive geographic coordinates from a satellite transmission. The method includes receiving, by the one or more processors, one or more second geographic coordinates via an interface configured to receive geographic coordinates from a ground transmission. The method includes determining, by the one or more processors, that the one or more first geographic coordinates and the one or more second geographic coordinates are inconsistent. The method includes updating, by the one or more processors, a flight plan using the one or more second geographic coordinates when the one or more first geographic coordinates are inconsistent with the one or more second geographic coordinates.

FIELD OF THE INVENTION

The present subject matter relates generally to ground units foracquiring data.

BACKGROUND OF THE INVENTION

An aerial vehicle can rely on communication systems. The communicationsystems provide the aerial vehicle with information, such as geographiccoordinates, locations of other vehicles, etc. The information providedto the aerial vehicle via the communication systems can be used tonavigate the aerial vehicle. The information provided to the aerialvehicle via the communication systems can be predicted to be unreliablewhen the aerial vehicle is in certain locations. When the informationprovided to the aerial vehicle via the communication systems isunreliable, the aerial vehicle can be caused to be navigated inundesirable manner.

BRIEF DESCRIPTION OF THE INVENTION

Aspects and advantages of embodiments of the present disclosure will beset forth in part in the following description, or may be learned fromthe description, or may be learned through practice of the embodiments.

One example aspect of the present disclosure is directed to a method fornavigating an aircraft. The method includes receiving, by one or moreprocessors, one or more first geographic coordinates via an interfaceconfigured to receive geographic coordinates from a satellitetransmission. The method includes receiving, by the one or moreprocessors, one or more second geographic coordinates via an interfaceconfigured to receive geographic coordinates from a ground transmission.The method includes determining, by the one or more processors, that theone or more first geographic coordinates and the one or more secondgeographic coordinates are inconsistent. The method includes updating,by the one or more processors, a flight plan using the one or moresecond geographic coordinates when the one or more first geographiccoordinates are inconsistent with the one or more second geographiccoordinates. The method includes creating, by the one or moreprocessors, an alert regarding the inconsistency between the one or morefirst geographic coordinates and the one or more second geographiccoordinates. The one or more second geographic coordinates are receivedfrom one or more ground units, the one or more second coordinates beingmanually entered into the one or more ground units when the one or moreground units are positioned.

Another example aspect of the present disclosure is directed to a systemfor providing navigation assistance from a ground unit to an aerialvehicle. The system includes a plurality of ground units. Each groundunit includes a memory device. Each ground unit includes one or moresensors. Each ground unit includes one or more processors. The one ormore processors are configured to receive environmental data via the oneor more sensors. The one or more processors are configured to receive atransmit signal from a first aerial vehicle, wherein the transmit signalis indicative of a communication window. The one or more processors areconfigured to communicate with at least one of the other of theplurality of ground units in response to the transmit signal in thecommunication window. The one or more processors are configured totransmit the environmental data to one or more aerial vehicles inresponse to the received transmit signal in the communication window.

Another example aspect of the present disclosure is directed to a groundunit for providing navigation assistance to an aerial vehicle. Theground unit includes a memory device. The ground unit includes one ormore processors. The one or more processors are configured to receiveone or more geographic coordinates from a manual input. The one or moreprocessors are configured to receive a transmit signal from a firstaerial vehicle, wherein the transmit signal is indicative of acommunication window. The one or more processors are configured totransmit the one or more geographic coordinates in response to thereceived transmit signal to one or more aerial vehicles in thecommunication window.

Other example aspects of the present disclosure are directed to systems,methods, aircrafts, avionics systems, devices, non-transitorycomputer-readable media for navigating an aerial vehicle. Variations andmodifications can be made to these example aspects of the presentdisclosure.

These and other features, aspects and advantages of various embodimentswill become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the present disclosure and, together with thedescription, serve to explain the related principles.

BRIEF DESCRIPTION OF THE DRAWINGS

Detailed discussion of embodiments directed to one of ordinary skill inthe art are set forth in the specification, which makes reference to theappended figures, in which:

FIG. 1 depicts an aerial vehicle according to example embodiments of thepresent disclosure;

FIG. 2 depicts a ground unit according to example embodiments of thepresent disclosure;

FIG. 3 depicts a plurality of ground units according to exampleembodiments of the present disclosure;

FIG. 4 depicts a flow diagram of an example method according to exampleembodiments of the present disclosure;

FIG. 5 depicts a flow diagram of an example method according to exampleembodiments of the present disclosure;

FIG. 6 depicts a flow diagram of an example method according to exampleembodiments of the present disclosure;

FIG. 7 depicts a computing system for implementing one or more aspectsaccording to example embodiments of the present disclosure;

FIG. 8 depicts a flow diagram of an example method according to exampleembodiments of the present disclosure; and

FIG. 9 depicts a flow diagram of an example method according to exampleembodiments of the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

Reference now will be made in detail to embodiments of the invention,one or more examples of which are illustrated in the drawings. Eachexample is provided by way of explanation of the invention, notlimitation of the invention. In fact, it will be apparent to thoseskilled in the art that various modifications and variations can be madein the present invention without departing from the scope or spirit ofthe invention. For instance, features illustrated or described as partof one embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that the present inventioncovers such modifications and variations as come within the scope of theappended claims and their equivalents.

As used in the specification and the appended claims, the singular forms“a,” “an,” and “the” include plural referents unless the context clearlydictates otherwise. The use of the term “about” in conjunction with anumerical value refers to within 25% of the stated amount.

Example aspects of the present disclosure are directed to methods andsystems that can provide navigation assistance from a ground unit to anaerial vehicle. Geographic coordinates, such as coordinates obtainedfrom a Global Positioning System (GPS) navigation system, can bemanually entered (e.g., hardcoded, initiated, etc.) into the groundunit. Once the geographic coordinates are entered, the ground unit canbe placed (e.g., dropped, buried, hidden, etc.) in a location associatedwith the entered geographic coordinates. The ground unit can include oneor more sensors. The one or more sensors can sense environmental data,such as acoustic data, video data, image data, chemical data, terraindata, seismic data, magnetic data, temperature data, fire data, smokedata, air data, water data, the like, and/or a combination of theforegoing.

The ground unit can listen for (e.g., receive, accept, wait for, etc.) atransmit signal from an aerial vehicle. The transmit signal can beindicative of a communication window. The transmit signal can indicatethat it is safe to transmit information to the aerial vehicle, otheraerial vehicles, and/or other ground units during the communicationwindow. The ground unit can be in a dormant (e.g., passive, receiving,listening, waiting, accepting, etc.) mode until the communication windowis reached. On receiving the transmit signal and/or once thecommunication window is reached, the ground unit can transmit theentered geographic coordinates and/or the sensed environmental data tothe aerial vehicle, other aerial vehicles, and/or other ground units.

The aerial vehicle can receive the entered geographic coordinatestransmitted from the ground unit. The aerial vehicle can receivegeographic coordinates via a satellite interface. A comparison can bemade between the geographic coordinates received from the ground unitwith the geographic coordinates received via the satellite interface.When the geographic coordinates from the ground unit are found to beinconsistent (e.g., incompatible, etc.) with the geographic coordinatesreceived via the satellite interface, the aerial vehicle can use thegeographic coordinates received from the ground unit for navigationand/or an alert can be generated (e.g., created, sounded, etc.).

The aerial vehicle can receive the environmental data from a pluralityof ground units. The environmental data and/or the geographiccoordinates can be used to determine people movement, vehicle movement,chemical weapon deployment, etc. For example, detection of cigarettesmoke can indicate a position and/or a movement of one or more people; adetection of exhaust can indicate a position and/or a movement of one ormore vehicles; a detection of chemicals can indicate an origin and/or aspread of a chemical event; etc. As another example, the aerial vehiclecan receive first geographic coordinates and first sensed acoustic data(such as a Doppler effect sensed by the movement of a second vehicle ata first ground unit) from the first ground unit, second geographiccoordinates and second sensed acoustic data (such as a Doppler effectsensed by the movement of the second vehicle at a second ground unit)from the second ground unit, and use the received geographic coordinatesand sensed acoustic data to estimate a movement and/or a position of thesecond vehicle.

The ground unit can receive the environmental data and/or geographiccoordinates from one or more other ground units. For example, a firstground unit can receive geographic coordinates and environmental datafrom a second ground unit. The first ground unit can use the geographiccoordinates previously manually entered and the geographic coordinatesreceived from the second ground unit to define a line. The first groundunit can use the environmental data from its sensors and theenvironmental data received from the second ground unit as evidence thatan event occurred (a noise, a chemical, an object, etc.). The firstground unit can receive geographic coordinates and environmental datafrom a third ground unit. The first ground unit can determine that thethird ground unit is on a first side of the defined line based on thegeographic coordinates received from the third ground unit. Theenvironmental data received from the third ground unit can indicate thatevidence that the event occurred is stronger on the first side of thedefined line. The first ground unit can receive geographic coordinatesand environmental data from a fourth ground unit. The first ground unitcan determine that the fourth ground unit is on a second side of thedefined line based on the geographic coordinates received from thefourth ground unit. The environmental data received from the fourthground unit can indicate that evidence that the event occurred is weakeron the second side of the defined line. An aerial vehicle seeking theevent can be instructed to navigate on the first side of the definedline. An aerial vehicle seeking to avoid the event can be instructed tonavigate on the second side of the defined line. Further, additionallines can be defined among the various ground units to more granular(e.g., closely, definitively, exactly, etc.) identify the location ofthe event. In this way, the systems and methods according to exampleaspects of the present disclosure have a technical effect of assistingan aerial vehicle when traditional communication systems for navigationare inconsistent with the other communication systems for navigation.

FIG. 1 is a vehicle 100 such as an aerial vehicle in accordance with anembodiment of the present disclosure. The vehicle 100 includes a controlsystem 102 for generating a flight path trajectory and flying vehicle100 along the flight path trajectory, an interface for communicatingwith ground units of FIG. 2 104, an interface for communicating withsatellites 106, a means for placing (e.g., dropping, ejecting, etc.) theground unit 108, such as a hatch or a door, and a plurality of othersystems and subsystems that enable proper operation of vehicle 100.After geographic coordinates are manually entered into a ground unit,the ground unit can be placed into position via the means for placingthe ground unit 108. The position in which the ground unit is placed canbe or can approximately be associated a position associated with thegeographic coordinates entered into the ground unit.

A transmit signal can be send from the vehicle 100 to one or more groundunits via the interface for communicating with ground units 104. Thetransmit signal is indicative of a communication window. The transmitsignal can indicate that it is safe for the ground units to transmitinformation to the aerial vehicle, other aerial vehicles, and/or otherground units during the communication window.

In response to the sent transmit signal, the vehicle 100 can receiveinformation from the one or more grounds unit via the interface forcommunicating with ground units 104. The information received from theone or more ground units can include geographic coordinates. Thegeographic coordinates can be geographic coordinates previously manuallyentered into the ground unit. The manually entered geographiccoordinates can correspond to other geographic coordinates, such asGlobal Positioning System (GPS) coordinates. The information receivedfrom the one or more ground units can include environmental data sensed(e.g., accumulated, gathered, etc.) by the one or more ground units.Environmental data can include acoustic data, video data, image data,chemical data, terrain data, seismic data, magnetic data, temperaturedata, fire data, smoke data, air data, water data, the like, and/or acombination of the foregoing. The information received from the one ormore ground units can be used to determine people position and/ormovement, vehicle position and/or movement, fire movement (e.g., origin,spread, etc.), chemical movement (e.g., origin, spread, etc.), terrainconditions, the like, and/or a combination of the foregoing. Use of theinformation received from the one or more ground units will be describedin greater detail in reference to FIG. 3 .

The vehicle 100 can receive geographic coordinates, such as GPScoordinates, via the interface for communicating with satellites 106.The geographic coordinates received via the interface for communicatingwith the ground units 104 (first geographic coordinates) can be comparedwith the geographic coordinates received via the interface forcommunicating with satellites 106 (second geographic coordinates). Ifthe first geographic coordinates are inconsistent with the secondgeographic coordinates (that is, if both a position of the vehicle 100indicated by the first geographic coordinates and a position of thevehicle 100 indicated by the second geographic coordinates are unlikelyin light of each other, a speed of the vehicle 100, a time elapsedbetween receipt of the first geographic coordinates and receipt of thesecond geographic coordinates), then a flight plan of the vehicle 100can be updated with the second geographic coordinates. When adetermination is made that the first geographic coordinates areinconsistent with the second geographic coordinates, the control system102 can create an alert to indicate the inconsistency.

The numbers, locations, and/or orientations of the components of examplevehicle 100 are for purposes of illustration and discussion and are notintended to be limiting. Those of ordinary skill in the art, using thedisclosures provided herein, shall understand that the numbers,locations, and/or orientations of the components of the vehicle 100 canbe adjusted without deviating from the scope of the present disclosure.

FIG. 2 depicts a block diagram of an example ground unit 200 or othersystems according to example embodiments of the present disclosure. Asshown, the ground unit 200 can include one or more computing device(s)202. The one or more computing device(s) 202 can include one or moreprocessor(s) 204 and one or more memory device(s) 206. The one or moreprocessor(s) 204 can include any suitable processing device, such as amicroprocessor, microcontroller, integrated circuit, logic device, orother suitable processing device. The one or more memory device(s) 206can include one or more computer-readable media, including, but notlimited to, non-transitory computer-readable media, RAM, ROM, harddrives, flash drives, or other memory devices.

The one or more memory device(s) 206 can store information accessible bythe one or more processor(s) 204, including computer-readableinstructions 208 that can be executed by the one or more processor(s)204. The instructions 208 can be any set of instructions that whenexecuted by the one or more processor(s) 204, cause the one or moreprocessor(s) 204 to perform operations. The instructions 208 can besoftware written in any suitable programming language or can beimplemented in hardware. In some embodiments, the instructions 208 canbe executed by the one or more processor(s) 204 to cause the one or moreprocessor(s) 204 to perform operations, such as the operationsassociated with the ground unit 200, as described with reference to FIG.4 and/or FIG. 5 , and/or any other operations or functions of the one ormore computing device(s) 202.

The memory device(s) 206 can further store data 210 that can be accessedby the processors 204. For example, the data 210 can include dataassociated with geographic coordinates, environmental data, terraindata, and/or any other data associated with ground unit 200, asdescribed herein. In an embodiment, the data 210 includes manuallyinputted geographical coordinates. The data 210 can include one or moretable(s), function(s), algorithm(s), model(s), equation(s), etc. fornavigating the vehicle 100 according to example embodiments of thepresent disclosure. In an embodiment, the data 210 can be compressedprior to storage.

The one or more computing device(s) 202 can also include a communicationinterface 212 used to communicate, for example, with the othercomponents of system. The communication interface 212 can include anysuitable components for interfacing with one or more network(s),including for example, transmitters, receivers, transceivers, ports,controllers, antennas, or other suitable components.

The ground unit 200 can include one or more sensor(s) 214. The one ormore sensor(s) 214 can include one or more acoustic sensor(s), one ormore optical sensor(s), one or more tactile sensor(s), one or morethermal sensor(s), one or more chemical sensor(s), one or more seismicsensor(s), one or more magnetic sensor(s), the like, and/or acombination of the foregoing. The one or more sensor(s) 214 can detectenvironmental data. Environmental data can include acoustic data, videodata, image data, chemical data, terrain data, seismic data, magneticdata, temperature data, fire data, smoke data, air data, water data, thelike, and/or a combination of the foregoing.

Optionally, the ground unit 200 can include an anti-tamper system. Theground unit 200 can include an accelerometer. In an embodiment, inresponse to the accelerometer detecting that the ground unit 200 ismoved, the anti-tamper system can encrypt (e.g., hide, conceal,obfuscate, etc.) data collected, delete (e.g., remove, cancel, zero out,etc.) data collect, self-destruct part or all of the ground unit 200using, for example, thermite, the like, and/or a combination of theforegoing.

The ground unit 200 can include one or more power source(s). The one ormore power source(s) can include one or more thermoelectricgenerator(s). The one or more power source(s) can include one or moresolar panel(s). The one or more power source(s) can include a means ofgenerating power with rain water, such as a microturbine.

Optionally, the ground unit 200 can include devices and/or robotics forlocomotion and movement. Movement of the ground unit 200 can be steeredby a human. Movement of the ground unit 200 can be automated withoutassistance from a human. The ground unit 200 can be dropped from theaerial vehicle 100 and move to a suitable position. For example, theground unit 200 can include robotic spider legs or continuous tracks formoving from a dropped location to a suitable position. As anotherexample, the ground unit 200 can include a drill for burying the groundunit 200 in the ground.

Optionally, the ground unit 200 can include environment-specificcamouflage. For example, environmentally appropriate vegetation can beallowed to grow around the ground unit 200 before the ground unit 200 isdropped and/or placed into position.

FIG. 3 depicts a plurality of ground units 302, 304, 306, 308, like theground unit illustrated in FIG. 2 . The plurality of ground units 302,304, 306, 308 can communicate with one another. In an embodiment, if twoground units cannot communicate directly, then a third ground unit canact as a bridge between the two ground units. In an embodiment, oneground unit can act as a hub and the other ground unit can act asspokes. In such an embodiment, the hub ground unit can performcalculations based on data from itself and data received from the spokeground units. In another embodiment, processing can be distributed amongall of the ground units. For example, if a first ground unit detects anevent, then the first ground unit can query (e.g., ping, interrogate,etc.) adjacent ground units about information the adjacent ground unitssensed about the event, as well as information received from otherground units about the event that the adjacent ground units have. Inanother example, if a first ground unit is queried (e.g., pinged,interrogated, etc.) by a second ground unit to the west of the firstground unit about an event and the first ground unit did not detect theevent, then the first ground unit can transmit a signal to the secondground unit indicating it has no additional information about the eventand determine that it does not need to query a third ground unit to theeast of the first ground unit. If a first ground unit is queried by asecond ground unit to the west of the first ground unit about an eventand the first ground unit did detect the event, then the first groundunit can transmit information about the event to the second ground unitand query a third ground unit to the east of the first ground unit aboutthe event. The first ground unit can return the result of the query ofthe third ground unit to the second ground unit and so on.

The plurality of ground units 302, 304, 306, 308 can use the techniquesdescribed above to determine information about an event. For example,the plurality of ground units 302, 304, 306, 308 can communicate witheach other to determine an origin of an event. The event can be one ormore of an acoustic event, a chemical event, and a movement of anobject. In an embodiment, each of the ground units 302, 304, 306, 308can transmit information sensed about the event to each other. A groundunit of the plurality of ground units 302, 304, 306, 308 with anearliest time of detection and/or a strongest detection of the event canbe determined to be closest to the origin of the event. The origin ofthe event can be better fine-tuned by determining a second earliest timeof detection and/or a second strongest detection of the event, and soon. A spread (e.g., pattern, dissemination, containment, etc.) of theevent can be determined by examining the detection time and/or detectionstrength of all of the plurality of ground units 302, 304, 306, 308.

As another example, the plurality of ground units 302, 304, 306, 308 cancommunicate with each other to determine a position and/or a movement ofone or more targets. A target can be one or more people, animals,vehicles, objects, the like, and/or a combination of the forgoing. In anembodiment, each of the ground units 302, 304, 306, 308 can transmitinformation sensed about the target to each other. A ground unit of theplurality of ground units 302, 304, 306, 308 with an earliest time ofdetection can be determined to be closest to a starting position of theone or more targets. The starting position of the one or more targetscan be better fine-tuned by determining a second earliest time ofdetection, and so on. A movement of the one or more targets can bedetermined by examining the detection time and/or detection strength ofall of the plurality of ground units 302, 304, 306, 308. A currentposition of the one or more targets can be approximated based on alatest time of detection and/or a strongest detection of the one or moretargets.

In an embodiment, if two ground units sense an event and/or a target,then the two ground units can define a line. In an embodiment, if twoground units sense an event and/or a target with a same or similarstrength, then the two ground units can define a line. For example, afirst ground unit 302 and a second ground unit 308 can sense an eventand/or a target with a same or similar strength, and a line can bedefined between the first ground unit 302 and the second ground unit308. If a third ground unit 304 senses the event and/or the target withless strength than the first and second ground unit 302, 308, then theevent can be determined to be weaker and/or the target can be lesslikely to be on the side of the line with the third ground unit 304. Ifa fourth ground unit 306 senses the event and/or the target with morestrength than the first and second ground unit 302, 308, then the eventcan be determined to be stronger and/or the target can be more likely tobe on the side of the line with the fourth ground unit 306. If a vehicledesires to avoid the event and/or the target, then the vehicle can stayon the side of the line with the third ground unit 304. If a vehicledesires to engage the event and/or the target, then the vehicle can stayon the side of the line with the fourth ground unit 308. Additionallines can be defined among ground units to determine the location of theevent and/or target with more granularity.

In an embodiment, the manually entered geographic coordinates of one ormore of the plurality of ground units 302, 304, 306, 308 can be used todetermine a location of a vehicle and/or a target. For example, avehicle can receive the manually entered geographic coordinates from oneor more of the plurality of ground units 302, 304, 306, 308 anddetermine its own location in a manner similar to a Global PositioningSystem (GPS) system. In another example, one or more of the plurality ofground units 302, 304, 306, 308 can sense the vehicle and/or the targetand/or receive a signal from the vehicle and/or the target, indicatingthat the vehicle and/or the target is within a range of the one or moreof the plurality of ground units 302, 304, 306, 308. Time stamps of whenthe one or more of the plurality of ground units 302, 304, 306, 308sensed the vehicle and/or target and/or received a signal from thevehicle and/or the target can indicate that each of the one or more ofthe plurality of ground units 302, 304, 306, 308 received the signal ata same time or at a similar time. The information about the vehicleand/or target can be processed to determine a location and/or a movementof the vehicle and/or the target. The information about the vehicleand/or target can be processed at one or more of the plurality of groundunits 302, 304, 306, 308, at the vehicle and/or target, at anothervehicle, at a central ground location, the like, and/or a combination ofthe forgoing.

The location of the vehicle and/or the target can be determined at atime if the vehicle and/or the target is in communication with at leastfour ground units at the time. The location of the vehicle and/or thetarget can be determined at a time if the vehicle and/or the target isin communication with at least three ground units at the time and analtitude of the vehicle and/or the target is known at the time. Thelocation of the vehicle and/or the target can be determined at a time ifthe vehicle and/or the target is in communication with at least twoground units at the time and a Doppler effect of the vehicle and/or thetarget is sensed at the time. For example, an aerial vehicle can use atime latency between a transmission to the at least two or more groundunits, a distance between the at least two ground units, and the Dopplereffect of the vehicle and/or the target to determine a location of thevehicle and/or the target.

FIG. 4 depicts a flow diagram of an example method (400) for providingnavigation assistance from a ground unit to an aerial vehicle. Themethod of FIG. 4 can be implemented using, for instance, the ground unit200 of FIG. 2 . FIG. 4 depicts steps performed in a particular order forpurposes of illustration and discussion. Those of ordinary skill in theart, using the disclosures provided herein, will understand that varioussteps of any of the methods disclosed herein can be adapted, modified,rearranged, or modified in various ways without deviating from the scopeof the present disclosure.

At (402), one or more geographic coordinates can be received from manualinput. For instance, the ground unit 200 can receive one or moregeographic coordinates from a manual input. The received one or moregeographic coordinates can correspond to geographic coordinatesassociated with a location of the ground unit 200. In an embodiment,once the one or more geographic coordinates are entered into the groundunit 200, the one or more geographic coordinates cannot be changed.

At (404), a transmit signal can be received from a first aerial vehicle.For instance, the ground unit 200 can receive a transmit signal from afirst aerial vehicle. The transmit signal can be indicative of acommunication window. The communication window can be a time duringwhich the ground unit 200 can transmit information to the first aerialvehicle, other aerial vehicles, and/or other ground units. The groundunit 200 can be in a dormant (e.g., passive, receiving, listening,waiting, accepting, etc.) mode, when not in a communication windowindicated by a transmit signal.

At (406), the one or more geographic coordinates can be transmitted inresponse to the received transmit signal to one or more aerial vehiclesin the communication window. For instance, the ground unit 200 cantransmit the one or more geographic coordinates in response to thereceived transmit signal to one or more aerial vehicles in thecommunication window. In another example, the ground unit 200 cantransmit the one or more geographic coordinates in response to thereceived transmit signal to the first aerial vehicle in thecommunication window.

Optionally, environmental data can be received from one or more sensors.For instance, the ground unit 200 can receive environmental data fromone or more sensors. For example, environmental data can be receivedfrom one or more acoustic sensors. In an embodiment, the environmentaldata can be transmitted in response to the received transmit signal tothe one or more aerial vehicles in the communication window. Forinstance, the ground unit 200 can transmit the environmental data inresponse to the received transmit signal to the one or more aerialvehicles in the communication window. In another example, the groundunit 200 can transmit the environmental data in response to the receivedtransmit signal to the first aerial vehicle in the communication window.In an embodiment, environmental data can include one or more of acousticdata, video data, image data, chemical data, terrain data, seismic data,magnetic data, temperature data, fire data, smoke data, air data, and/orwater data.

FIG. 5 depicts a flow diagram of an example method (500) for providingnavigation assistance from a ground unit to an aerial vehicle. Themethod of FIG. 5 can be implemented using, for instance, the ground unit200 of FIG. 2 . FIG. 5 depicts steps performed in a particular order forpurposes of illustration and discussion. Those of ordinary skill in theart, using the disclosures provided herein, will understand that varioussteps of any of the methods disclosed herein can be adapted, modified,rearranged, or modified in various ways without deviating from the scopeof the present disclosure.

At (502), environmental data can be received via one or more sensors.For instance, the ground unit 200 can receive environmental data via oneor more sensors. Environmental data can indicate the occurrence of anevent. The event can be one or more of an acoustic event, a chemicalevent, and a movement of an object. In an embodiment, environmental datacan include one or more of acoustic data, video data, image data,chemical data, terrain data, seismic data, magnetic data, temperaturedata, fire data, smoke data, air data, and/or water data.

At (504), a transmit signal can be received from a first aerial vehicle.For instance, the ground unit 200 can receive a transmit signal from afirst aerial vehicle. The transmit signal can be indicative of acommunication window. The communication window can be a time duringwhich the ground unit 200 can transmit information to the first aerialvehicle, other aerial vehicles, and/or other ground units. The groundunit 200 can be in a dormant (e.g., passive, receiving, listening,waiting, accepting, etc.) mode, when not in a communication windowindicated by a transmit signal.

At (506), at least one of the other of the plurality of ground units canbe communicated with in response to the transmit signal in thecommunication window. For instance, the ground unit 200 can communicatewith at least one of the other of the plurality of ground units inresponse to the transmit signal in the communication window. In anembodiment, one ground unit can act as a hub and receive information,such as the sensed environmental data, from other ground units. Forexample, a ground unit in communication with the first aerial vehiclecan act as the hub. In an embodiment, ground units can transmitinformation to and receive information from adjacent ground units.

At (508), the environmental data can be transmitted to one or moreaerial vehicles in response to the received transmit signal in thecommunication window. For instance, the ground unit 200 can transmit theenvironmental data to one or more aerial vehicles in response to thereceived transmit signal in the communication window. In an embodiment,a hub ground unit, such as a ground unit in communication with the firstvehicle, can transmit the environmental data it sensed, as well as theenvironmental data it received from other ground units to the one ormore aerial vehicles.

Optionally, one or more geographic coordinate can be stored in a memorydevice from a manual input. For instance, the ground unit 200 can storeone or more geographic coordinates in a memory device from a manualinput. The received one or more geographic coordinates can correspond togeographic coordinates associated with a location of the ground unit200. In an embodiment, once the one or more geographic coordinates areentered into the ground unit 200, the one or more geographic coordinatescannot be changed. The one or more geographic coordinates can betransmitted to the one or more aerial vehicles in response to thereceived transmit signal in the communication window. For instance, theground unit 200 can transmit the one or more geographic coordinates tothe one or more aerial vehicles in response to the received transmitsignal in the communication window. In an embodiment, an origin of theevent can be determined based on the environmental data. In anembodiment, spread of the event can be determined based on theenvironmental data.

FIG. 6 depicts a flow diagram of an example method (600) for providingnavigation assistance from a ground unit to an aerial vehicle. Themethod of FIG. 6 can be implemented using, for instance, the vehicle 100of FIG. 1 . FIG. 6 depicts steps performed in a particular order forpurposes of illustration and discussion. Those of ordinary skill in theart, using the disclosures provided herein, will understand that varioussteps of any of the methods disclosed herein can be adapted, modified,rearranged, or modified in various ways without deviating from the scopeof the present disclosure.

At (602), one or more first geographic coordinates can be received viaan interface configured to receive geographic coordinates from asatellite transmission. For instance, the vehicle 100 can receive one ormore first geographic coordinates via an interface configured to receivegeographic coordinates from a satellite transmission. In an embodiment,the interface configured to receive geographic coordinates from asatellite transmission can be an interface for receiving GlobalPositioning System (GPS) coordinates.

At (604), one or more second geographic coordinates can be received viaan interface configured to receive geographic coordinates from a groundtransmission. For instance, the vehicle 100 can receive one or moresecond geographic coordinates via an interface configured to receivegeographic coordinates from a ground transmission. In an embodiment, thevehicle 100 can receive one or more second geographic coordinates via aninterface configured to receive geographic coordinates from the groundunit 200. In an embodiment, the vehicle 100 can receive one or moresecond geographic coordinates via an interface configured to receivegeographic coordinates from at least four ground units 200. In anembodiment, the vehicle 100 can receive one or more second geographiccoordinates via an interface configured to receive geographiccoordinates from at least three ground units 200. In an embodiment, thevehicle 100 can receive one or more second geographic coordinates via aninterface configured to receive geographic coordinates from at least twoground units 200.

At (606), a determination can be made that the one or more firstgeographic coordinates and the one or more second geographic coordinatesare inconsistent. For instance, the vehicle 100 can determine that theone or more first geographic coordinates and the one or more secondgeographic coordinates are inconsistent. The one or more firstgeographic coordinates and the one or more second geographic coordinatescan be inconsistent if both a position of the vehicle 100 indicated bythe first geographic coordinates and a position of the vehicle 100indicated by the second geographic coordinates are unlikely in light offactors, such as each other, a speed of the vehicle 100, a time elapsedbetween receipt of the first geographic coordinates and receipt of thesecond geographic coordinates, the like, and/or a combination of theforgoing.

At (608), a flight plan can be updated using the one or more secondgeographic coordinates when the one or more first geographic coordinatesare inconsistent with the one or more second geographic coordinates. Forinstance, a flight plan of the vehicle 100 can be updated using the oneor more second geographic coordinates when the one or more firstgeographic coordinates are inconsistent with the one or more secondgeographic coordinates.

At (610), an alert can be created regarding the inconsistency betweenthe one or more first geographic coordinates and the one or more secondgeographic coordinates. For instance, the vehicle 100 can create analert regarding the inconsistency between the one or more firstgeographic coordinates and the one or more second geographiccoordinates. In an embodiment, the alert can inform a pilot of theinconsistency between the one or more first geographic coordinates andthe one or more second geographic coordinates. In an embodiment, thealert can inform a ground system, such as a ground control or the groundunit 200 of the inconsistency between the one or more first geographiccoordinates and the one or more second geographic coordinates.

When the vehicle 100 receives one or more second geographic coordinatesfrom at least four ground units 200, the vehicle 100 can determine aposition of the vehicle 100 based on the one or more second geographiccoordinates. When the vehicle 100 receives one or more second geographiccoordinates from at least three ground units 200, the vehicle 100 candetermine a position of the vehicle 100 based on the one or more secondgeographic coordinates and a known altitude of the vehicle 100.

When the vehicle 100 receives one or more second geographic coordinatesfrom at least two ground units 200, the vehicle 100 can receive one ormore signals associated with one or more sensors of at least two groundunits 200. The vehicle 100 can define a line based on the one or moresecond geographic coordinates. The vehicle 100 can determine a positionof the aircraft based on the one or more second geographic coordinates,a known altitude of the aircraft, and a Doppler effect demonstrated bythe acoustic signal. The one or more signals can indicate a desirableevent has occurred on one side of the line, and the vehicle 100 can becaused to navigate to the one side of the line. The one or more signalscan indicate an undesirable event has occurred on one side of the line,and the vehicle 100 can be caused to navigate away from the one side ofthe line.

FIG. 7 depicts a block diagram of an example computing system that canbe used to implement the control system 700 or other systems of theaircraft according to example embodiments of the present disclosure. Asshown, the control system 700 can include one or more computingdevice(s) 702. The one or more computing device(s) 702 can include oneor more processor(s) 704 and one or more memory device(s) 706. The oneor more processor(s) 704 can include any suitable processing device,such as a microprocessor, microcontroller, integrated circuit, logicdevice, or other suitable processing device. The one or more memorydevice(s) 706 can include one or more computer-readable media,including, but not limited to, non-transitory computer-readable media,RAM, ROM, hard drives, flash drives, or other memory devices.

The one or more memory device(s) 706 can store information accessible bythe one or more processor(s) 704, including computer-readableinstructions 708 that can be executed by the one or more processor(s)704. The instructions 708 can be any set of instructions that whenexecuted by the one or more processor(s) 704, cause the one or moreprocessor(s) 704 to perform operations. The instructions 708 can besoftware written in any suitable programming language or can beimplemented in hardware. In some embodiments, the instructions 708 canbe executed by the one or more processor(s) 704 to cause the one or moreprocessor(s) 704 to perform operations, such as the operations fornavigating an aerial vehicle, as described with reference to FIG. 6 ,and/or any other operations or functions of the one or more computingdevice(s) 702.

The memory device(s) 706 can further store data 710 that can be accessedby the processors 704. For example, the data 710 can include anavigational database, data associated with the navigation system(s),data associated with the control mechanisms, data indicative of a flightplan associated with the vehicle 100, data associated with geographiccoordinates, and/or any other data associated with vehicle 100, asdescribed herein. The data 710 can include one or more table(s),function(s), algorithm(s), model(s), equation(s), etc. for navigatingthe vehicle 100 according to example embodiments of the presentdisclosure.

The one or more computing device(s) 702 can also include a communicationinterface 712 used to communicate, for example, with the othercomponents of system. The communication interface 712 can include anysuitable components for interfacing with one or more network(s),including for example, transmitters, receivers, ports, controllers,antennas, or other suitable components.

Turning now to FIG. 8 , and with continued reference to FIG. 6 , a flowdiagram is illustrated of an example method for providing navigationassistance from a ground unit to an aerial vehicle. The method of FIG. 6can be implemented using, for instance, the vehicle 100 of FIG. 1 . FIG.6 depicts steps performed in a particular order for purposes ofillustration and discussion. Those of ordinary skill in the art, usingthe disclosures provided herein, will understand that various steps ofany of the methods disclosed herein can be adapted, modified,rearranged, or modified in various ways without deviating from the scopeof the present disclosure.

At (810), the vehicle 100 can receive one or more signals from one ormore sensors. At (820), a line can be defined based on the one or moresecond geographic coordinates (e.g., such as one or more secondgeographic coordinates at step (604) in FIG. 6 ). Step (830) sets forththat the one or more signals indicate a desirable event has occurred onone side of the line and further comprising causing the aircraft tonavigate to the one side of the line.

Turning now to FIG. 9 , and with continued reference to FIG. 6 , a flowdiagram is illustrated of an example method for providing navigationassistance from a ground unit to an aerial vehicle. The method of FIG. 6can be implemented using, for instance, the vehicle 100 of FIG. 1 . FIG.6 depicts steps performed in a particular order for purposes ofillustration and discussion. Those of ordinary skill in the art, usingthe disclosures provided herein, will understand that various steps ofany of the methods disclosed herein can be adapted, modified,rearranged, or modified in various ways without deviating from the scopeof the present disclosure.

At (910), the vehicle 100 can receive one or more signals from one ormore sensors. At (920), a line can be defined based on the one or moresecond geographic coordinates (e.g., such as one or more secondgeographic coordinates at step (604) in FIG. 6 ). Step (830) sets forththat the one or more signals indicate an undesirable event has occurredon one side of the line and further comprising causing the aircraft tonavigate away from the one side of the line.

The technology discussed herein makes reference to computer-basedsystems and actions taken by and information sent to and fromcomputer-based systems. One of ordinary skill in the art will recognizethat the inherent flexibility of computer-based systems allows for agreat variety of possible configurations, combinations, and divisions oftasks and functionality between and among components. For instance,processes discussed herein can be implemented using a single computingdevice or multiple computing devices working in combination. Databases,memory, instructions, and applications can be implemented on a singlesystem or distributed across multiple systems. Distributed componentscan operate sequentially or in parallel.

Although specific features of various embodiments may be shown in somedrawings and not in others, this is for convenience only. In accordancewith the principles of the present disclosure, any feature of a drawingmay be referenced and/or claimed in combination with any feature of anyother drawing.

This written description uses examples to disclose the presentdisclosure, including the best mode, and also to enable any personskilled in the art to practice the present disclosure, including makingand using any devices or systems and performing any incorporatedmethods. The patentable scope of the present disclosure is defined bythe claims, and can include other examples that occur to those skilledin the art. Such other examples are intended to be within the scope ofthe claims if they include structural elements that do not differ fromthe literal language of the claims, or if they include equivalentstructural elements with insubstantial differences from the literallanguage of the claims.

What is claimed is:
 1. A method for navigating an aircraft comprising: receiving, by one or more processors, one or more first geographic coordinates via an interface configured to receive geographic coordinates from a satellite transmission; receiving, by the one or more processors, one or more second geographic coordinates via an interface configured to receive geographic coordinates from a ground transmission; determining, by the one or more processors, that the one or more first geographic coordinates and the one or more second geographic coordinates are inconsistent; updating, by the one or more processors, a flight plan using the one or more second geographic coordinates when the one or more first geographic coordinates are inconsistent with the one or more second geographic coordinates; and creating, by the one or more processors, an alert regarding the inconsistency between the one or more first geographic coordinates and the one or more second geographic coordinates, wherein the one or more second geographic coordinates are received from one or more ground units, the one or more second geographic coordinates being manually entered into the one or more ground units when the one or more ground units are positioned.
 2. The method of claim 1, wherein receiving one or more second geographic coordinates via an interface configured to receive geographic coordinates from a ground transmission further comprises receiving one or more second geographic coordinates from at least four ground units.
 3. The method of claim 2, further comprising determining a position of the aircraft based on the one or more second geographic coordinates.
 4. The method of claim 1, wherein receiving one or more second geographic coordinates via an interface configured to receive geographic coordinates from a ground transmission further comprises receiving one or more second geographic coordinates from at least three ground units.
 5. The method of claim 4, further comprising determining a position of the aircraft based on the one or more second geographic coordinates and a known altitude of the aircraft.
 6. The method of claim 1, wherein receiving one or more second geographic coordinates via an interface configured to receive geographic coordinates from a ground transmission further comprises receiving one or more second geographic coordinates from at least two ground units.
 7. The method of claim 6, further comprising: receiving one or more signals from one or more sensors; and defining a line based on the one or more second geographic coordinates.
 8. The method of claim 7, wherein the one or more signals comprise an acoustic signal and further comprising determining a position of the aircraft based on the one or more second geographic coordinates, a known altitude of the aircraft, and a Doppler effect demonstrated by the acoustic signal.
 9. The method of claim 7, wherein the one or more signals indicate a desirable event has occurred on one side of the line and further comprising causing the aircraft to navigate to the one side of the line.
 10. The method of claim 7, wherein the one or more signals indicate an undesirable event has occurred on one side of the line and further comprising causing the aircraft to navigate away from the one side of the line. 